WO2024259911A1 - 安全气囊防护装置及控制方法 - Google Patents

安全气囊防护装置及控制方法 Download PDF

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Publication number
WO2024259911A1
WO2024259911A1 PCT/CN2023/137643 CN2023137643W WO2024259911A1 WO 2024259911 A1 WO2024259911 A1 WO 2024259911A1 CN 2023137643 W CN2023137643 W CN 2023137643W WO 2024259911 A1 WO2024259911 A1 WO 2024259911A1
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WIPO (PCT)
Prior art keywords
controller
airbag
gas
gas cylinder
target object
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Ceased
Application number
PCT/CN2023/137643
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English (en)
French (fr)
Inventor
宁运琨
刘根源
刁亚楠
赵国如
胡睿
孙月
王迎池
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2024259911A1 publication Critical patent/WO2024259911A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C1/00—Pressure vessels, e.g. gas cylinder, gas tank, replaceable cartridge
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C13/00—Details of vessels or of the filling or discharging of vessels
    • F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C13/00—Details of vessels or of the filling or discharging of vessels
    • F17C13/04—Arrangement or mounting of valves

Definitions

  • the present application relates to the technical field of safety protection devices, and in particular to a safety airbag protection device and a control method thereof.
  • the airbag protective device mainly provides protection for users when they fall during daily activities such as walking, running, and riding, so as to avoid serious injuries as much as possible.
  • the protective device has the characteristics of good protection effect, strong adaptability, and easy carrying, and can be combined with various daily wearable devices. These characteristics enable this system to play an important role in protecting the user's physical safety.
  • Existing airbag protection devices usually include key components such as airbags, inflation mechanisms, gas cylinders, power supply equipment, etc. These components are cleverly embedded in daily wear items such as belts, clothing, and helmets so that users can easily incorporate them into their daily lives.
  • the airbag protection device is controlled by a control system. When a user falls, the microcontroller immediately activates the inflation mechanism, allowing the gas cylinder to quickly release gas and provide sufficient gas for the airbag to inflate.
  • the inflated airbag can effectively protect the user and reduce the possibility of physical injury caused by the fall.
  • the existing control method does not support the control of the amount of gas charged and released by the gas cylinder. When the airbag is filled with gas, the remaining gas in the gas cylinder will also be wasted, resulting in the inability to reasonably utilize the gas in the gas cylinder.
  • the present application provides an airbag protection device and a control method to solve the problem of poor practicality of the gas cylinder of the existing airbag protection device.
  • an airbag protection device which includes: an airbag, a gas channel, a steering gear, an eccentric cam, a valve, a high-pressure gas cylinder, a motion sensor, a gas dynamic monitoring module and a first controller; the air inlet and the air outlet of the gas channel are respectively connected to the high-pressure gas cylinder and the airbag, the steering gear, the eccentric cam and the valve are arranged in the gas channel, the driving shaft of the steering gear is connected to the eccentric cam, the eccentric cam abuts the valve to control the opening or closing of the valve, and the valve is arranged on the gas outlet of the high-pressure gas cylinder; the first controller is electrically connected to the motion sensor, the gas dynamic monitoring module and the steering gear respectively; the motion sensor is used to collect the motion data of the target object; the gas dynamic monitoring module is used to monitor the change of the gas volume in the high-pressure gas cylinder in real time; the first controller is used to determine that when the target object falls
  • a timer which is electrically connected to the first controller and is used to start timing when it is determined based on the motion data that the target object has fallen, and to determine that the target object has fallen when the acceleration and angular velocity of the target object have not recovered to a preset interval range within a preset timing period.
  • the gas dynamic monitoring module includes a temperature sensor and a pressure sensor for collecting the temperature and pressure in the high-pressure gas cylinder in real time; the first controller is also used to calculate the real-time gas volume of the high-pressure gas cylinder based on the real-time temperature and pressure, and then calculate the volume difference between the real-time gas volume and the initial gas volume in the high-pressure gas cylinder, and when the volume difference is equal to the gas volume of the airbag, control the servo to drive the eccentric cam to close the valve to stop inflation.
  • the present application also includes a second controller, a communication module, a positioning module, and a voice module electrically connected to the second controller.
  • the second controller is electrically connected to the first controller.
  • the first controller is also used to send a fall signal to the second controller.
  • the second controller is used to control the positioning module to obtain the current positioning signal, and then send the current positioning signal to the cloud server through the communication module, and use the voice module and the communication module to establish a voice call with the cloud server.
  • the present application also includes a power supply module electrically connected to the first controller, which is used to supply power to the first controller, the motion sensor, the gas dynamic monitoring module, and the servo.
  • the airbag includes at least one airbag for protecting different parts of the body.
  • the airbag protection device includes an airbag, a gas channel, a servo, an eccentric cam, a valve, a high-pressure gas cylinder, a motion sensor, a gas dynamic monitoring module and a first controller; the method includes: the motion sensor collects motion data of the target object; when the first controller determines that the target object falls according to the motion data, the servo drives the eccentric cam to open the valve to inflate the airbag; the gas dynamic monitoring module monitors the change of the gas volume in the high-pressure gas cylinder in real time; when the reduced gas volume in the high-pressure gas cylinder is equal to the total gas volume of all airbags, the first controller controls the servo to drive the eccentric cam to close the valve to stop inflation.
  • the control system also includes a timer; the step of the first controller determining that the target object has fallen based on the motion data includes: the first controller constructs a sliding window data set for the motion data, and the size and step size of the sliding window are preset; the first controller inputs the sliding window data set into a pre-trained convolutional neural network for prediction to obtain a prediction result; when the prediction result is a fall behavior, the first controller starts the timer; the first controller determines whether the acceleration and angular velocity of the target object are restored to a preset interval range within a preset timing period; if so, the first controller determines that the target object has not fallen; if not, the first controller determines that the target object has fallen.
  • the gas dynamic monitoring module includes a temperature sensor and a pressure sensor; the steps of the gas dynamic monitoring module monitoring the change of the gas volume in the high-pressure gas cylinder in real time include: the temperature sensor and the pressure sensor collect the temperature and pressure in the high-pressure gas cylinder in real time; the first controller calculates the real-time gas volume of the high-pressure gas cylinder according to the real-time temperature and pressure; the first controller calculates the volume difference between the real-time gas volume and the initial gas volume in the high-pressure gas cylinder, and the initial gas volume is calculated according to the temperature and pressure in the high-pressure gas cylinder before the inflation operation.
  • control system also includes a second controller, a communication module, a positioning module, and a voice module; when the first controller determines that the target object has fallen according to the motion data, it controls the servo to drive the eccentric cam to open the valve to inflate the airbag, and also includes: the first controller sends a fall signal to the second controller; after receiving the fall signal, the second controller controls the positioning module to obtain the current positioning signal, and then sends the current positioning signal to the cloud server through the communication module, and uses the voice module and the communication module to establish a voice call with the cloud server.
  • the airbag protection device of the present application sets a gas dynamic monitoring module in the high-pressure gas cylinder, and uses the first controller to determine that when the target object falls according to the motion data of the target object collected by the motion sensor, controls the servo to drive the eccentric cam to open the valve to inflate the airbag, and monitors the change of the gas volume in the high-pressure gas cylinder in real time through the gas dynamic monitoring module.
  • the reduced gas volume in the high-pressure gas cylinder is equal to the total gas volume of all airbags, controls the servo to drive the eccentric cam to close the valve to stop inflation.
  • FIG1 is a schematic structural diagram of an airbag protection device according to an embodiment of the present invention.
  • FIG2 is a schematic diagram of the system structure of the airbag protection device according to an embodiment of the present invention.
  • FIG. 3 is a flow chart of a method for controlling an airbag protection device according to an embodiment of the present invention.
  • first”, “second” and “third” in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined as “first”, “second” and “third” can explicitly or implicitly include at least one of the features.
  • the meaning of “multiple” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back%) in the embodiments of this application are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.
  • Fig. 1 shows a schematic diagram of the structure of the airbag protection device according to an embodiment of the present invention
  • Fig. 2 shows a schematic diagram of the system structure of the control system of the airbag protection device according to an embodiment of the present invention
  • the airbag protection device includes: an airbag (not shown in the figure), a gas channel 1, a steering gear 2, an eccentric cam 3, a valve 4, a high-pressure gas cylinder 5, a motion sensor 6, a gas dynamic monitoring module 7 and a first controller 8.
  • the air inlet and outlet of the gas channel 1 are connected to the high-pressure gas cylinder 5 and the airbag respectively.
  • the steering gear 2, the eccentric cam 3 and the valve 4 are arranged in the gas channel 1.
  • the driving shaft of the steering gear 2 is connected to the eccentric cam 3, and the eccentric cam 3 abuts against the valve 4.
  • the driving shaft of the steering gear 2 drives the eccentric cam 3 to rotate. When it rotates to a certain angle, the eccentric cam 3 squeezes the valve 4 to open the valve 4. After continuing to rotate, the eccentric cam 3 releases the valve 4 and the valve 4 is closed.
  • the valve 4 is arranged on the air outlet of the high-pressure gas cylinder 5. When the valve 4 is opened, the high-pressure gas cylinder 5 discharges gas to the gas channel 1 under the action of pressure; when the valve 4 is closed, the high-pressure gas cylinder 5 stops discharging gas to the gas channel 1.
  • the first controller 8 is electrically connected to the motion sensor 6, the gas dynamic monitoring module 7, and the steering gear 2 respectively.
  • the motion sensor 6 is used to collect the motion data of the target object.
  • the gas dynamic monitoring module 7 is used to monitor the change of the gas volume in the high-pressure gas cylinder 5 in real time.
  • the first controller 8 is used to control the steering gear 2 to drive the eccentric cam 3 to open the valve 4 to inflate the airbag when determining that the target object falls according to the motion data, and when the reduced gas volume in the high-pressure gas cylinder 5 is equal to the total gas volume of all airbags, control the steering gear 2 to drive the eccentric cam 3 to close the valve 4 to stop the inflation.
  • the motion sensor 6 collects the motion data of the target object and transmits it to the first controller 8.
  • the first controller 8 analyzes the motion data to determine whether the target object falls.
  • the first controller 8 controls the steering gear 2 to drive the eccentric cam 3 to open the valve 4 to inflate the airbag.
  • the gas dynamic monitoring module 7 starts to monitor the change of the gas volume in the high-pressure gas cylinder 5, and feeds back the change result to the first controller 8.
  • the first controller 8 controls the steering gear 2 to drive the eccentric cam 3 to close the valve 4 to stop inflation.
  • the airbag protection device of the embodiment of the present invention sets a gas dynamic monitoring module 7 in the high-pressure gas cylinder 5, and uses the first controller 8 to determine that the target object falls according to the motion data of the target object collected by the motion sensor 6, and controls the steering gear 2 to drive the eccentric cam 3 to open the valve 4 to inflate the airbag, and monitors the change of the gas volume in the high-pressure gas cylinder 5 in real time through the gas dynamic monitoring module 7.
  • the steering gear 2 is controlled to drive the eccentric cam 3 to close the valve 4 to stop inflation.
  • the change of the gas volume in the high-pressure gas cylinder 5 is monitored in real time, and the airbag is accurately inflated, so that the high-pressure gas cylinder 5 does not need to be frequently replaced, thereby improving the durability and practicality of the high-pressure gas cylinder 5.
  • the airbag protection device also includes a timer 9, which is electrically connected to the first controller 8 and is used to start timing when it is determined based on motion data that the target object has fallen, and to determine that the target object has fallen when the acceleration and angular velocity of the target object have not recovered to a preset range within a preset timing period.
  • the timer 9 starts timing, and continuously obtains the acceleration and angular velocity of the target object through the motion sensor 6 during the preset timing period, and determines whether the acceleration and angular velocity of the target object have recovered to the preset interval range.
  • the acceleration and angular velocity of the target object have not recovered to the preset interval range, it is determined that the target object has fallen; when the acceleration and angular velocity of the target object have recovered to the preset interval range, it is determined that the target object has not fallen.
  • This embodiment sets a timer 9 to continuously determine the acceleration and angular velocity of the target object when the target object falls, thereby helping to determine whether the target object really falls, avoiding the situation where the airbag is deployed due to misidentification, and improving the accuracy of the fall determination.
  • the gas dynamic monitoring module 7 includes a temperature sensor 71 and a pressure sensor 72, which are used to collect the temperature and pressure in the high-pressure gas cylinder 5 in real time; the first controller 8 is also used to calculate the real-time gas volume of the high-pressure gas cylinder 5 according to the real-time temperature and pressure, and then calculate the volume difference between the real-time gas volume and the initial gas volume in the high-pressure gas cylinder 5, and when the volume difference is equal to the gas volume of the airbag, control the servo 2 to drive the eccentric cam 3 to close the valve 4 to stop inflation.
  • the pressure of the gas is the mole or mass of the gas, is the volume of gas, Gas constant, The temperature of the gas. After obtaining the pressure and temperature of the gas, the gas volume can be calculated. The initial gas volume can be calculated using the pressure and temperature of the high-pressure gas cylinder 5 before filling.
  • the temperature sensor 71 and the pressure sensor 72 collect the temperature and pressure in the high-pressure gas cylinder 5 in real time, and calculate the real-time gas volume in the high-pressure gas cylinder 5 according to the temperature and pressure, and then calculate the volume difference between the real-time gas volume and the initial gas volume, and then compare the volume difference with the gas volume of the airbag.
  • the high-pressure gas cylinder 5 continues to inflate the airbag, and when the volume difference is equal to the gas volume of the airbag, the high-pressure gas cylinder 5 stops inflating the airbag.
  • the airbag protection device also includes a second controller 10, a communication module 11, a positioning module 12, and a voice module 13 electrically connected to the second controller 10.
  • the second controller 10 is electrically connected to the first controller 8.
  • the first controller 8 is also used to send a fall signal to the second controller 10. After receiving the fall signal, the second controller 10 is used to control the positioning module 12 to obtain the current positioning signal, and then send the current positioning signal to the cloud server through the communication module 11, and use the voice module 13 and the communication module 11 to establish a voice call with the cloud server.
  • the second controller 10 can also control the positioning module 12 to obtain the current positioning signal of the target object, and then send the current positioning signal to the cloud server through the communication module 11.
  • the voice module 13 and the communication module 11 can also be used to establish a voice call with the cloud server to facilitate asking whether the target object is injured, whether an alarm is needed, etc.
  • the positioning module 12 can realize triple indoor and outdoor positioning, and the priority of the triple positioning is GPS/Beidou positioning, WIFI positioning, and base station positioning. The accuracy of positioning is ensured by the hybrid positioning method and the design of positioning priority.
  • the first controller 8 is mainly responsible for the identification of the fall and the control of the airbag
  • the second controller 10 is mainly responsible for external high-reliability remote communication, high-precision position tracking, and voice alarm for the fall time, etc.
  • the first controller 8 and the second controller 10 transmit data through the internal high-speed interface UART.
  • the airbag protection device also includes a power supply module 14 electrically connected to the first controller 8 , for supplying power to the first controller 8 , the motion sensor 6 , the gas dynamic monitoring module 7 , and the steering gear 2 .
  • the airbag includes at least one airbag for protecting different parts of the body.
  • the airbags for protecting different parts of the body in this embodiment mainly include hip protection airbags, waist protection airbags and head protection airbags.
  • the hip protection airbag is used as the main airbag
  • the waist protection airbag and the head protection airbag are used as optional airbags.
  • Each airbag for protecting different parts of the body is connected to an air outlet 100 of the gas channel 1. It should be noted that for the convenience of description, only three air outlets are shown in the figure, which correspond to the hip protection airbag, the waist protection airbag and the head protection airbag respectively, but the number of air outlets 100 is not limited in this embodiment, and is specifically set according to the number of airbags.
  • This embodiment provides a pre-configured airbag, so that the protection area can be changed according to the user's fall risk level and needs, thereby meeting the fall protection needs of users of different age groups.
  • FIG3 is a flow chart of a control method of an airbag protection device according to an embodiment of the present invention.
  • the airbag protection device includes an airbag, a gas channel, a steering gear, an eccentric cam, a valve, a high-pressure gas cylinder, a motion sensor, a gas dynamic monitoring module and a first controller.
  • the control method includes:
  • Step S101 a motion sensor collects motion data of a target object.
  • Step S102 When the first controller determines that the target object has fallen according to the motion data, the first controller controls the steering gear to drive the eccentric cam to open the valve to inflate the airbag.
  • Step S103 The gas dynamic monitoring module monitors the change of the gas volume in the high-pressure gas cylinder in real time.
  • Step S104 When the reduced gas volume in the high-pressure gas cylinder is equal to the total gas volume of all the airbags, the first controller controls the steering gear to drive the eccentric cam to close the valve to stop inflation.
  • the motion sensor collects motion data of the target object and transmits it to the first controller.
  • the first controller analyzes the motion data to determine whether the target object falls.
  • the first controller controls the servo to drive the eccentric cam to open the valve to inflate the airbag.
  • the gas dynamic monitoring module begins to monitor the change in the gas volume in the high-pressure gas cylinder, and feeds back the change result to the first controller.
  • the first controller controls the servo to drive the eccentric cam to close the valve to stop inflation.
  • the airbag protection device of the embodiment of the present invention sets a gas dynamic monitoring module in the high-pressure gas cylinder, uses the first controller to determine that the target object falls according to the motion data of the target object collected by the motion sensor, controls the steering gear to drive the eccentric cam to open the valve to inflate the airbag, and monitors the change of the gas volume in the high-pressure gas cylinder in real time through the gas dynamic monitoring module.
  • the reduced gas volume in the high-pressure gas cylinder is equal to the total gas volume of all airbags, controls the steering gear to drive the eccentric cam to close the valve to stop inflation.
  • control system further includes a timer
  • step of the first controller determining that the target object has fallen according to the motion data in step S102 specifically includes:
  • the first controller constructs a sliding window data set for the motion data, and the size and step length of the sliding window are preset.
  • the first controller inputs the sliding window data set into a pre-trained convolutional neural network for prediction to obtain a prediction result.
  • the first controller starts a timer.
  • the first controller determines whether the acceleration and angular velocity of the target object are restored to a preset range within a preset timing period.
  • the first controller determines that the target object has not fallen.
  • the first controller determines that the target object has fallen.
  • the timer starts timing, and continuously obtains the acceleration and angular velocity of the target object through the motion sensor during the preset timing period, and determines whether the acceleration and angular velocity of the target object are restored to the preset interval range.
  • the acceleration and angular velocity of the target object are not restored to the preset interval range, it is determined that the target object has fallen; when the acceleration and angular velocity of the target object are restored to the preset interval range, it is determined that the target object has not fallen.
  • This embodiment sets a timer to continuously determine the acceleration and angular velocity of the target object when the target object is falling, thereby helping to determine whether the target object is really falling, avoiding the situation where the airbag is deployed due to misidentification, and improving the accuracy of fall determination.
  • the gas dynamic monitoring module includes a temperature sensor and a pressure sensor; in step S103, the gas dynamic monitoring module monitors the change of the gas volume in the high-pressure gas cylinder in real time, specifically including:
  • the temperature sensor and pressure sensor collect the temperature and pressure in the high-pressure gas cylinder in real time.
  • the first controller calculates the real-time gas volume of the high-pressure gas cylinder according to the real-time temperature and pressure.
  • the first controller calculates the volume difference between the real-time gas volume and the initial gas volume in the high-pressure gas cylinder, where the initial gas volume is calculated based on the temperature and pressure in the high-pressure gas cylinder before the charging operation.
  • the temperature sensor and the pressure sensor collect the temperature and pressure in the high-pressure gas cylinder in real time, and calculate the real-time gas volume in the high-pressure gas cylinder based on the temperature and pressure, and then calculate the volume difference between the real-time gas volume and the initial gas volume. This volume difference is the reduced gas volume in the high-pressure gas cylinder.
  • control system further includes a second controller, a communication module, a positioning module, and a voice module; after the first controller determines in step S102 that the target object falls according to the motion data, controls the steering gear to drive the eccentric cam to open the valve to inflate the airbag, it also includes:
  • the first controller sends a fall signal to the second controller.
  • the second controller controls the positioning module to obtain the current positioning signal, and then sends the current positioning signal to the cloud server through the communication module, and uses the voice module and the communication module to establish a voice call with the cloud server.
  • the first controller determines that the target object has fallen and activates the airbag to protect the target object, it can also send a fall signal to the second controller, and the second controller controls the positioning module to obtain the current positioning signal of the target object, and then sends the current positioning signal to the cloud server through the communication module.
  • the voice module and the communication module can also be used to establish a voice call with the cloud server, so as to conveniently inquire whether the target object is injured, whether an alarm is needed, etc.

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  • General Engineering & Computer Science (AREA)
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Abstract

本发明公开了一种安全气囊防护装置及控制方法，该装置包括至少一个防护不同身体部位的安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器，第一控制器根据运动传感器采集的目标对象的运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门向安全气囊中充气，并通过气体动态监测模块实时监测高压气瓶中气体体积的变化，当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机驱动偏心凸轮以关闭阀门以停止充气。本发明能够按需个性化配置气囊保护区域，且根据高压气瓶中气体体积的变化，精准地对安全气囊进行充气，不用频繁更换高压气瓶，提高了高压气瓶的耐用性和实用性。

Description

安全气囊防护装置及控制方法 技术领域
本申请涉及安全防护装置技术领域，特别是涉及一种安全气囊防护装置及控制方法。
 背景技术
在现代社会，跌倒或碰撞是非常普遍的现象，特别是对于那些年老体弱或从事高危职业的人来说，跌倒或碰撞可能导致严重的伤害，包括骨折、脑震荡等。传统的保护措施如拐杖、助行器等设备存在着一定的局限性。这些设备需要手持或支撑，对于行动不便的人来说，使用不太方便；并且这些设备的保护能力也有一定限制，如果发生摔倒或碰撞，依旧无法有效地保护人体免受伤害。因此，提供一种安全可靠的装置来减轻或避免跌倒或碰撞对人体造成的伤害，具有非常重要的意义。而安全气囊防护装置作为一种创新型的防护装置，其主要作用是在用户进行日常活动如行走，跑步，骑行发生跌倒时为他们提供保护，从而尽量避免受到严重的伤害。该防护装置具有防护效果好，适应性强，携带方便等特点，并且能结合各种日常穿戴设备，这些特点使得这种系统能够在保护使用者的身体安全方面发挥重要作用。
现有的安全气囊防护装置通常包括安全气囊，充气机构，气瓶，电源设备等关键部件，这些组件被巧妙地嵌入到腰带、衣物、头盔等日常穿戴用品中，以便用户能够轻松地将其纳入他们的日常生活中。该安全气囊防护装置通过控制系统控制，当使用者发生跌倒事件时，微控制器立即激活充气机构，从而让气瓶快速释放气体，为安全气囊提供充足的气体以实现充气。充气后的气囊能有效地保护使用者，降低他们受到跌倒带来的物理伤害的可能性。但是，现有的控制方式不支持对气瓶充释放气体的量进行控制，当安全气囊充满气体后，气瓶中剩余的气体也将浪费，导致无法对气瓶中的气体进行合理利用。
 技术问题
有鉴于此，本申请提供一种安全气囊防护装置及控制方法，以解决现有安全气囊防护装置的气瓶实用性差的问题。
 技术解决方案
为解决上述技术问题，本申请采用的一个技术方案是：提供一种安全气囊防护装置，其包括：安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器；气体通道的进气口和出气口分别与高压气瓶、安全气囊连接，舵机、偏心凸轮、阀门设置于气体通道内，舵机的驱动轴与偏心凸轮连接，偏心凸轮抵接阀门以控制阀门开启或关闭，阀门设置于高压气瓶的出气口上；第一控制器分别与运动传感器、气体动态监测模块、舵机电性连接；运动传感器用于采集目标对象的运动数据；气体动态监测模块用于实时监测高压气瓶中气体体积的变化；第一控制器用于根据运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门向安全气囊中充气，并当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机驱动偏心凸轮以关闭阀门以停止充气。
作为本申请的进一步改进，其还包括计时器，计时器与第一控制器电性连接，用于当根据运动数据判定目标对象存在跌倒行为时，开始计时，并在预设计时期间内目标对象的加速度和角速度未恢复至预设区间范围时，判定目标对象跌倒。
作为本申请的进一步改进，气体动态监测模块包括温度传感器和压力传感器，用于实时采集高压气瓶中的温度和压力；第一控制器还用于根据实时的温度和压力计算得到高压气瓶的实时气体体积，再计算实时气体体积与高压气瓶中初始气体体积之间的体积差，并当体积差与安全气囊的气体容积相等时，控制舵机驱动偏心凸轮以关闭阀门以停止充气。
作为本申请的进一步改进，其还包括第二控制器，与第二控制器电性连接的通信模块、定位模块、语音模块，第二控制器与第一控制器电性连接，第一控制器还用于发送跌倒信号至第二控制器，第二控制器用于在接收到跌倒信号后，控制定位模块获取当前定位信号，再通过通信模块将当前定位信号发送至云服务器，且利用语音模块和通信模块构建与云服务器之间的语音通话。
作为本申请的进一步改进，其还包括与第一控制器电性连接的电源模块，用于向第一控制器、运动传感器、气体动态监测模块、舵机供电。
作为本申请的进一步改进，安全气囊包括至少一个防护不同身体部位的安全气囊。
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种安全气囊防护装置的控制方法，其上述之一的安全气囊防护装置，安全气囊防护装置包括安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器；方法包括：运动传感器采集目标对象的运动数据；第一控制器根据运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门以向安全气囊中充气；气体动态监测模块实时监测高压气瓶中气体体积的变化；当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，第一控制器控制舵机驱动偏心凸轮以关闭阀门以停止充气。
作为本申请的进一步改进，控制系统还包括计时器；第一控制器根据运动数据判定目标对象跌倒的步骤，包括：第一控制器对运动数据构建滑动窗口数据集，滑动窗口的大小和步长预先设置；第一控制器将滑动窗口数据集输入至预先训练好的卷积神经网络进行预测，得到预测结果；当预测结果为跌倒行为时，第一控制器启动计时器计时；第一控制器判断在预设计时期间内目标对象的加速度和角速度是否恢复至预设区间范围；若是，则第一控制器判定目标对象未跌倒；若否，则第一控制器判定目标对象跌倒。
作为本申请的进一步改进，气体动态监测模块包括温度传感器和压力传感器；气体动态监测模块实时监测高压气瓶中气体体积的变化的步骤，包括：温度传感器和压力传感器实时采集高压气瓶中的温度和压力；第一控制器根据实时的温度和压力计算得到高压气瓶的实时气体体积；第一控制器计算实时气体体积与高压气瓶中初始气体体积之间的体积差，初始气体体积根据充气操作之前高压气瓶中的温度和压力计算得到。
作为本申请的进一步改进，控制系统还包括第二控制器、通信模块、定位模块、语音模块；第一控制器根据运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门以向安全气囊中充气之后，还包括：第一控制器发送跌倒信号至第二控制器；第二控制器在接收到跌倒信号后，控制定位模块获取当前定位信号，再通过通信模块将当前定位信号发送至云服务器，并利用语音模块和通信模块构建与云服务器之间的语音通话。
 有益效果
本申请的有益效果是：本申请的安全气囊防护装置通过在高压气瓶中设置气体动态监测模块，利用第一控制器根据运动传感器采集的目标对象的运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门向安全气囊中充气，并通过气体动态监测模块实时监测高压气瓶中气体体积的变化，当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机驱动偏心凸轮以关闭阀门以停止充气，其实时监测高压气瓶中气体体积的变化，精准地对安全气囊进行充气，从而可以不用频繁更换高压气瓶，提高了高压气瓶的耐用性和实用性。
 附图说明
图1是本发明实施例的安全气囊防护装置的结构示意图；
图2是本发明实施例的安全气囊防护装置的系统结构示意图；
图3是本发明实施例的安全气囊防护装置的控制方法的流程示意图。
 本发明的最佳实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
图1展示了本发明实施例的安全气囊防护装置的结构示意图，图2展示了本发明实施例的安全气囊防护装置的控制系统的系统结构示意图。如图1和图2所示，该安全气囊防护装置包括：安全气囊（图中未示出）、气体通道1、舵机2、偏心凸轮3、阀门4、高压气瓶5、运动传感器6、气体动态监测模块7和第一控制器8。
气体通道1的进气口和出气口分别与高压气瓶5、安全气囊连接，舵机2、偏心凸轮3、阀门4设置于气体通道1内，舵机2的驱动轴与偏心凸轮3连接，偏心凸轮3抵接阀门4，舵机2的驱动轴带动偏心凸轮3旋转，在转动到一定角度时，偏心凸轮3挤压阀门4以开启阀门4，继续旋转后，偏心凸轮3释放阀门4，阀门4关闭。阀门4设置于高压气瓶5的出气口上。当阀门4开启时，高压气瓶5在压力作用下向气体通道1排出气体；当阀门4关闭时，高压气瓶5停止向气体通道1排出气体。
第一控制器8分别与运动传感器6、气体动态监测模块7、舵机2电性连接。运动传感器6用于采集目标对象的运动数据。气体动态监测模块7用于实时监测高压气瓶5中气体体积的变化。第一控制器8用于根据运动数据判定目标对象跌倒时，控制舵机2驱动偏心凸轮3以开启阀门4向安全气囊中充气，并当高压气瓶5中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机2驱动偏心凸轮3以关闭阀门4以停止充气。
具体地，运动传感器6采集目标对象的运动数据并传输至第一控制器8，第一控制器8分析运动数据从而判定目标对象是否跌倒，当判定目标对象跌倒时，第一控制器8控制舵机2驱动偏心凸轮3以开启阀门4向安全气囊中充气，此时，气体动态监测模块7开始监测高压气瓶5中的气体体积的变化，并将变化结果反馈至第一控制器8，当高压气瓶5中减少的气体体积与所有安全气囊的气体总容积相等时，第一控制器8控制舵机2驱动偏心凸轮3以关闭阀门4以停止充气。
本发明的实施方式
本发明实施例的安全气囊防护装置通过在高压气瓶5中设置气体动态监测模块7，利用第一控制器8根据运动传感器6采集的目标对象的运动数据判定目标对象跌倒时，控制舵机2驱动偏心凸轮3以开启阀门4向安全气囊中充气，并通过气体动态监测模块7实时监测高压气瓶5中气体体积的变化，当高压气瓶5中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机2驱动偏心凸轮3以关闭阀门4以停止充气，其实时监测高压气瓶5中气体体积的变化，精准地对安全气囊进行充气，从而可以不用频繁更换高压气瓶5，提高了高压气瓶5的耐用性和实用性。
进一步的，该安全气囊防护装置还包括计时器9，计时器9与第一控制器8电性连接，用于当根据运动数据判定目标对象存在跌倒行为时，开始计时，并在预设计时期间内目标对象的加速度和角速度未恢复至预设区间范围时，判定目标对象跌倒。
具体地，当第一控制器8根据运动数据判定目标对象存在跌倒行为时，计时器9开始计时，在预设计时期间内持续通过运动传感器6获取目标对象的加速度和角速度，并判断目标对象的加速度和角速度是否恢复至预设区间范围。当目标对象的加速度和角速度未恢复至预设区间范围时，判定目标对象跌倒；当目标对象的加速度和角速度恢复至预设区间范围时，判定目标对象未跌倒。
本实施例通过设置计时器9，在目标对象存在跌倒行为时对目标对象的加速度和角速度进行持续判定，进而帮助判定目标对象是否是真的跌倒，避免出现错误识别而导致安全气囊开启的情况出现，提升了跌倒判定的准确性。
进一步的，气体动态监测模块7包括温度传感器71和压力传感器72，用于实时采集高压气瓶5中的温度和压力；第一控制器8还用于根据实时的温度和压力计算得到高压气瓶5的实时气体体积，再计算实时气体体积与高压气瓶5中初始气体体积之间的体积差，并当体积差与安全气囊的气体容积相等时，控制舵机2驱动偏心凸轮3以关闭阀门4以停止充气。
需要说明的是，气体体积的计算公式如下：
；
其中， 是气体的压力， 是气体的摩尔或质量， 是气体体积， 气体常数， 气体的温度。在获取到气体的压力和温度后，即可计算得到气体体积。初始气体体积可利用高压气瓶5充气之前的压力和温度计算得到。
具体地，当高压气瓶5向安全气囊中充气时，温度传感器71和压力传感器72实时采集高压气瓶5中的温度和压力，并根据温度和压力计算得到高压气瓶5中的实时气体体积，再计算实时气体体积与初始气体体积之间的体积差，再将体积差与安全气囊的气体容积进行比较。当体积差低于安全气囊的气体容积时，高压气瓶5持续向安全气囊充气，当体积差等于安全气囊的气体容积时，高压气瓶5停止向安全气囊充气。
进一步的，该安全气囊防护装置还包括第二控制器10，与第二控制器10电性连接的通信模块11、定位模块12、语音模块13，第二控制器10与第一控制器8电性连接，第一控制器8还用于发送跌倒信号至第二控制器10，第二控制器10用于在接收到跌倒信号后，控制定位模块12获取当前定位信号，再通过通信模块11将当前定位信号发送至云服务器，且利用语音模块13和通信模块11构建与云服务器之间的语音通话。
具体地，当第一控制器8判定目标对象跌倒并开启安全气囊以保护目标对象后，还可通过第二控制器10控制定位模块12获取目标对象的当前定位信号，再通过通信模块11将当前定位信号发送至云服务器，并且，还可利用语音模块13和通信模块11构建与云服务器之间的语音通话，方便询问目标对象是否受伤，是否需要报警等。其中，该定位模块12可实现三重室内外定位，该三重定位的优先级依次为GPS/北斗定位、WIFI定位、基站定位，通过混合定位的方式以及定位优先级的设计，确保了定位的准确率。
本实施例中，第一控制器8主要负责进行跌倒的识别和对安全气囊的控制，第二控制器10主要负责对外的高可靠性远程通信、高精度位置追踪、以及针对跌倒时间的语音报警等。第一控制器8和第二控制器10通过内部高速接口UART传输数据。
进一步的，该安全气囊防护装置还包括与第一控制器8电性连接的电源模块14，用于向第一控制器8、运动传感器6、气体动态监测模块7、舵机2供电。
进一步的，安全气囊包括至少一个防护不同身体部位的安全气囊。
具体地，本实施例中防护不同身体部位的安全气囊主要包括髋部防护气囊、腰部防护气囊和头部防护气囊。其中，髋部防护气囊作为主要安全气囊，腰部防护气囊和头部防护气囊作为可选安全气囊。请进一步参阅图1，每个防护不同身体部分的安全气囊分别与气体通道1的一个出气口100连通。需要说明的是，图中为了方便进行描述仅示出三个出气口，分别与髋部防护气囊、腰部防护气囊、头部防护气囊分别对应，但本实施例对出气口100的数量不进行限制，具体根据安全气囊的数量设定。
本实施例通过设置可以预先配置的安全气囊，从而可以根据用户的跌倒风险等级和需求个性化的改变防护区域，满足不同年龄段用户对于跌倒的防护需求。
图3是本发明实施例的安全气囊防护装置的控制方法的流程示意图。该安全气囊防护装置包括安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器。该控制方法包括：
步骤S101：运动传感器采集目标对象的运动数据。
步骤S102：第一控制器根据运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门以向安全气囊中充气。
步骤S103：气体动态监测模块实时监测高压气瓶中气体体积的变化。
步骤S104：当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，第一控制器控制舵机驱动偏心凸轮以关闭阀门以停止充气。
具体地，运动传感器采集目标对象的运动数据并传输至第一控制器，第一控制器分析运动数据从而判定目标对象是否跌倒，当判定目标对象跌倒时，第一控制器控制舵机驱动偏心凸轮以开启阀门向安全气囊中充气，此时，气体动态监测模块开始监测高压气瓶中的气体体积的变化，并将变化结果反馈至第一控制器，当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，第一控制器控制舵机驱动偏心凸轮以关闭阀门以停止充气。
本发明实施例的安全气囊防护装置通过在高压气瓶中设置气体动态监测模块，利用第一控制器根据运动传感器采集的目标对象的运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门向安全气囊中充气，并通过气体动态监测模块实时监测高压气瓶中气体体积的变化，当高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，控制舵机驱动偏心凸轮以关闭阀门以停止充气，其实时监测高压气瓶中气体体积的变化，精准地对安全气囊进行充气，从而可以不用频繁更换高压气瓶，提高了高压气瓶的耐用性和实用性。
进一步的，控制系统还包括计时器，步骤S102中第一控制器根据运动数据判定目标对象跌倒的步骤，具体包括：
1、第一控制器对运动数据构建滑动窗口数据集，滑动窗口的大小和步长预先设置。
2、第一控制器将滑动窗口数据集输入至预先训练好的卷积神经网络进行预测，得到预测结果。
3、当预测结果为跌倒行为时，第一控制器启动计时器计时。
4、第一控制器判断在预设计时期间内目标对象的加速度和角速度是否恢复至预设区间范围。
5、若是，则第一控制器判定目标对象未跌倒。
6、若否，则第一控制器判定目标对象跌倒。
具体地，当第一控制器根据运动数据判定目标对象存在跌倒行为时，计时器开始计时，在预设计时期间内持续通过运动传感器获取目标对象的加速度和角速度，并判断目标对象的加速度和角速度是否恢复至预设区间范围。当目标对象的加速度和角速度未恢复至预设区间范围时，判定目标对象跌倒；当目标对象的加速度和角速度恢复至预设区间范围时，判定目标对象未跌倒。
本实施例通过设置计时器，在目标对象存在跌倒行为时对目标对象的加速度和角速度进行持续判定，进而帮助判定目标对象是否是真的跌倒，避免出现错误识别而导致安全气囊开启的情况出现，提升了跌倒判定的准确性。
进一步的，气体动态监测模块包括温度传感器和压力传感器；步骤S103中气体动态监测模块实时监测高压气瓶中气体体积的变化，具体包括：
1、温度传感器和压力传感器实时采集高压气瓶中的温度和压力。
2、第一控制器根据实时的温度和压力计算得到高压气瓶的实时气体体积。
3、第一控制器计算实时气体体积与高压气瓶中初始气体体积之间的体积差，初始气体体积根据充气操作之前高压气瓶中的温度和压力计算得到。
具体地，当高压气瓶向安全气囊中充气时，温度传感器和压力传感器实时采集高压气瓶中的温度和压力，并根据温度和压力计算得到高压气瓶中的实时气体体积，再计算实时气体体积与初始气体体积之间的体积差，该体积差即高压气瓶中减少的气体体积。
进一步的，控制系统还包括第二控制器、通信模块、定位模块、语音模块；步骤S102第一控制器根据运动数据判定目标对象跌倒时，控制舵机驱动偏心凸轮以开启阀门以向安全气囊中充气之后，还包括：
1、第一控制器发送跌倒信号至第二控制器。
2、第二控制器在接收到跌倒信号后，控制定位模块获取当前定位信号，再通过通信模块将当前定位信号发送至云服务器，并利用语音模块和通信模块构建与云服务器之间的语音通话。
具体地，当第一控制判定目标对象跌倒并开启安全气囊以保护目标对象后，还可发送跌倒信号至第二控制器，通过第二控制器控制定位模块获取目标对象的当前定位信号，再通过通信模块将当前定位信号发送至云服务器，并且，还可利用语音模块和通信模块构建与云服务器之间的语音通话，方便询问目标对象是否受伤，是否需要报警等。
关于上述实施例安全气囊防护装置的控制方法中各步骤实现技术方案的其他细节，可参见上述实施例中的安全气囊防护装置中的描述，此处不再赘述。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种安全气囊防护装置，其特征在于，其包括：安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器；
    所述气体通道的进气口和出气口分别与所述高压气瓶、所述安全气囊连接，所述舵机、所述偏心凸轮、所述阀门设置于所述气体通道内，所述舵机的驱动轴与所述偏心凸轮连接，所述偏心凸轮抵接所述阀门以控制所述阀门开启或关闭，所述阀门设置于所述高压气瓶的出气口上；
    所述第一控制器分别与所述运动传感器、所述气体动态监测模块、所述舵机电性连接；
    所述运动传感器用于采集目标对象的运动数据；
    所述气体动态监测模块用于实时监测所述高压气瓶中气体体积的变化；
    所述第一控制器用于根据所述运动数据判定所述目标对象跌倒时，控制所述舵机驱动所述偏心凸轮以开启所述阀门向安全气囊中充气，并当所述高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，控制所述舵机驱动所述偏心凸轮以关闭所述阀门以停止充气。
  2. 根据权利要求1所述的安全气囊防护装置，其特征在于，其还包括计时器，所述计时器与所述第一控制器电性连接，用于当根据运动数据判定所述目标对象存在跌倒行为时，开始计时，并在预设计时期间内所述目标对象的加速度和角速度未恢复至预设区间范围时，判定所述目标对象跌倒。
  3. 根据权利要求1所述的安全气囊防护装置，其特征在于，所述气体动态监测模块包括温度传感器和压力传感器，用于实时采集所述高压气瓶中的温度和压力；
    所述第一控制器还用于根据实时的温度和压力计算得到所述高压气瓶的实时气体体积，再计算所述实时气体体积与所述高压气瓶中初始气体体积之间的体积差，并当所述体积差与安全气囊的气体容积相等时，控制所述舵机驱动所述偏心凸轮以关闭所述阀门以停止充气。
  4. 根据权利要求1所述的安全气囊防护装置，其特征在于，其还包括第二控制器，与所述第二控制器电性连接的通信模块、定位模块、语音模块，所述第二控制器与所述第一控制器电性连接，所述第一控制器还用于发送跌倒信号至所述第二控制器，所述第二控制器用于在接收到所述跌倒信号后，控制所述定位模块获取当前定位信号，再通过所述通信模块将所述当前定位信号发送至云服务器，且利用所述语音模块和所述通信模块构建与所述云服务器之间的语音通话。
  5. 根据权利要求1所述的安全气囊防护装置，其特征在于，其还包括与所述第一控制器电性连接的电源模块，用于向所述第一控制器、所述运动传感器、所述气体动态监测模块、所述舵机供电。
  6. 根据权利要求1所述的安全气囊防护装置，其特征在于，所述安全气囊包括至少一个防护不同身体部位的安全气囊。
  7. 一种安全气囊防护装置的控制方法，其特征在于，其应用于权利要求1-6之一所述的安全气囊防护装置，所述安全气囊防护装置包括安全气囊、气体通道、舵机、偏心凸轮、阀门、高压气瓶、运动传感器、气体动态监测模块和第一控制器；所述方法包括：
    所述运动传感器采集目标对象的运动数据；
    所述第一控制器根据所述运动数据判定所述目标对象跌倒时，控制所述舵机驱动所述偏心凸轮以开启所述阀门以向安全气囊中充气；
    所述气体动态监测模块实时监测所述高压气瓶中气体体积的变化；
    当所述高压气瓶中减少的气体体积与所有安全气囊的气体总容积相等时，所述第一控制器控制所述舵机驱动所述偏心凸轮以关闭所述阀门以停止充气。
  8. 根据权利要求7所述的安全气囊防护装置的控制方法，其特征在于，所述控制系统还包括计时器；
    所述第一控制器根据所述运动数据判定所述目标对象跌倒的步骤，包括：
    所述第一控制器对所述运动数据构建滑动窗口数据集，所述滑动窗口的大小和步长预先设置；
    所述第一控制器将所述滑动窗口数据集输入至预先训练好的卷积神经网络进行预测，得到预测结果；
    当所述预测结果为跌倒行为时，所述第一控制器启动所述计时器计时；
    所述第一控制器判断在预设计时期间内所述目标对象的加速度和角速度是否恢复至预设区间范围；
    若是，则所述第一控制器判定所述目标对象未跌倒；
    若否，则所述第一控制器判定所述目标对象跌倒。
  9. 根据权利要求7所述的安全气囊防护装置的控制方法，其特征在于，所述气体动态监测模块包括温度传感器和压力传感器；
    所述气体动态监测模块实时监测所述高压气瓶中气体体积的变化的步骤，包括：
    所述温度传感器和所述压力传感器实时采集所述高压气瓶中的温度和压力；
    所述第一控制器根据实时的温度和压力计算得到所述高压气瓶的实时气体体积；
    所述第一控制器计算所述实时气体体积与所述高压气瓶中初始气体体积之间的体积差，所述初始气体体积根据充气操作之前所述高压气瓶中的温度和压力计算得到。
  10. 根据权利要求7所述的安全气囊防护装置的控制方法，其特征在于，所述控制系统还包括第二控制器、通信模块、定位模块、语音模块；
    所述第一控制器根据所述运动数据判定所述目标对象跌倒时，控制所述舵机驱动所述偏心凸轮以开启所述阀门以向安全气囊中充气之后，还包括：
    所述第一控制器发送跌倒信号至所述第二控制器；
    所述第二控制器在接收到所述跌倒信号后，控制所述定位模块获取当前定位信号，再通过所述通信模块将所述当前定位信号发送至云服务器，并利用所述语音模块和所述通信模块构建与所述云服务器之间的语音通话。
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